rkill
Directly braking and stopping the motion of the robot and setting up the original state of the robot
Contents
Last date of modification : 2010/10/18
Syntax
- rkill( [HANDLE]
| Inputs | Description | VALUE |
| HANDLE | robot-identifier | integer > 0 given by robot |
Description
rkill brakes the motion of the robot. The interpreter-buffer, the sendbuffer, all defined callbacks and processes are erased. After that the robot is in its original state and is able to receive and execute new commands.
The original state means:
| Property | Value |
| Velocity[mm/s] | 100 |
| Speed[%] | 50 |
| Acceleration[%] | 50 |
| Deceleration[%] | 50 |
| Accuracy[mm] | 1 |
| Continues-path mode | OFF |
If rkill is called without a handle, this command is used for all robots, which are online.
Examples
Setting up the original state for one robot
rkill( h ) ;
Setting up the original state for all robots
rkill;
Back to the Robotic-Toolbox-Index
Robotic-Toolbox (w) by Michael Christern & Artur Schmidt / Research Group Computational Engineering and Automation / University of Applied Sciences Wismar / Germany 2010